China's roboticists start from the use of the environment and divide robots into two categories, namely industrial robots and special robots. This is consistent with the international classification. Industrial robots refer to multi-joint manipulators or multi-degree-of-freedom robots for industrial applications. In addition to industrial robots, special robots are a variety of advanced robots used in non-manufacturing industries and serving human beings, including: service robots, underwater robots, entertainment robots, military robots, agricultural robots, etc. In special robots, some branches are developing rapidly and have a tendency to become independent systems, such as service robots, underwater robots, military robots, micro-operation robots, etc.
Industrial robots are divided into four types according to the movement method of the arm. The Cartesian arm can move along three Cartesian coordinates; The arm of the cylindrical coordinate type can be lifted, reversed and elastically moved; Spherical arms can be reversed, pitched and elastic; Articulated arms have multiple rolling joints.
According to the control function of the industrial robot to perform the organization movement, it can be divided into point type and continuous track type. The point type only controls the accurate positioning of the execution organization from one point to another, and is suitable for machine tool loading and unloading, spot welding, general transfer, loading and unloading and other operations; The continuous track type can control the execution organization to move according to a given track, and is suitable for continuous welding and painting operations.
According to the program input method, industrial robots are divided into two types: programming input type and teaching input type. The programming input type is to transfer the program file that has been programmed on the computer to the robot control cabinet through RS-232 serial port or Ethernet communication method. There are two teaching methods of teaching input type: one is that the operator uses a manual controller (teaching control box) to transmit the command signal to the driving system, so that the executive organization performs the required action sequence and motion track; The other is that the operator directly leads the execution organization and performs it according to the required action sequence and movement track. At the same time as the teaching process, the information of the working program is automatically stored in the program memory, and when the robot works automatically, the control system detects the corresponding information from the program memory, and transmits the instruction signal to the driving organization, so that the executive organization reproduces the various actions of the teaching. An industrial robot that teaches the input program is called a teach-in reproducible industrial robot.
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The DENSO robot has a built-in vision connection method
Hardware articulation method
If it is a USB camera (IDS), it is connected to the USB port of the robot controller.
In the case of GigE cameras (Basler) and network cameras (Canon), they are connected to the LAN port of the robot controller through the HUB during punctuality, and directly connected to the machine during execution.
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